Detailed Description

A class used to store a Plane-based Map (PbMap).

A PbMap consists of a set of planar patches described by geometric features (shape, relative position, etc.) and/or radiometric features (dominant color). It is organized as an annotated, undirected graph, where nodes stand for planar patches and edges connect neighbor planes when the distance between their closest points is under a threshold. This graph structure permits to find efficiently the closest neighbors of a plane, or to select groups of nearby planes representing part of the scene.

Definition at line 49 of file pbmap/PbMap.h.

#include <mrpt/pbmap/PbMap.h>

Inheritance diagram for mrpt::pbmap::PbMap:

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) noexcept

void	operator delete[] (void *ptr) noexcept

void	operator delete (void memory, void ptr) noexcept

void *	operator new (size_t size, const std::nothrow_t &) noexcept

void	operator delete (void *ptr, const std::nothrow_t &) noexcept

	PbMap ()

void	savePbMap (std::string filePath)

void	loadPbMap (std::string PbMapFile)

void	MergeWith (PbMap &pbm, Eigen::Matrix4f &T)

void	printPbMap (std::string txtFilePbm)

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

RTTI classes and functions
mrpt::utils::CObject::Ptr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

Public Attributes
std::vector< Plane >	vPlanes

std::string	label

int	FloorPlane

pcl::PointCloud< PointT >::Ptr	globalMapPtr

pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	edgeCloudPtr

pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	outEdgeCloudPtr

unsigned	background

unsigned	foreground

unsigned	groundplane

Protected Member Functions
CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const override
	Introduces a pure virtual method responsible for writing to a CStream. More...

void	readFromStream (mrpt::utils::CStream &in, int version) override
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...

RTTI stuff
using	Ptr = std::shared_ptr< PbMap >

using	ConstPtr = std::shared_ptr< const PbMap >

static mrpt::utils::CLASSINIT	_init_PbMap

static const mrpt::utils::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "PbMap"

static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()

static const mrpt::utils::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static mrpt::utils::CObject *	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::utils::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

using mrpt::pbmap::PbMap::ConstPtr = std::shared_ptr<const PbMap >

Definition at line 51 of file pbmap/PbMap.h.

◆ Ptr

using mrpt::pbmap::PbMap::Ptr = std::shared_ptr< PbMap >

A typedef for the associated smart pointer

Definition at line 51 of file pbmap/PbMap.h.

Constructor & Destructor Documentation

◆ PbMap()

PbMap::PbMap ( )

Constructor.

Definition at line 32 of file PbMap.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::pbmap::PbMap::_GetBaseClass ( )

staticprotected

◆ clone()

virtual mrpt::utils::CObject* mrpt::pbmap::PbMap::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::utils::CObject.

◆ Create()

template<typename... Args>

static Ptr mrpt::pbmap::PbMap::Create ( Args &&... args )

inlinestatic

Definition at line 51 of file pbmap/PbMap.h.

◆ CreateObject()

static mrpt::utils::CObject* mrpt::pbmap::PbMap::CreateObject ( )

static

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::pbmap::PbMap::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::utils::TRuntimeClassId& mrpt::pbmap::PbMap::GetRuntimeClassIdStatic ( )

static

◆ loadPbMap()

void PbMap::loadPbMap ( std::string PbMapFile )

Load a PbMap from the given filePath

Definition at line 120 of file PbMap.cpp.

References mrpt::utils::CFileGZInputStream::close(), and mrpt::utils::CFileGZInputStream::open().

Referenced by mrpt::pbmap::PbMapLocaliser::LoadPreviousPbMaps().

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◆ MergeWith()

void PbMap::MergeWith	(	PbMap &	pbm,
		Eigen::Matrix4f &	T
	)

Merge two pbmaps

Definition at line 144 of file PbMap.cpp.

References globalMapPtr, mrpt::pbmap::Plane::id, mrpt::pbmap::Plane::planePointCloudPtr, mrpt::pbmap::Plane::polygonContourPtr, mrpt::pbmap::Plane::v3center, mrpt::pbmap::Plane::v3normal, mrpt::pbmap::Plane::v3PpalDir, and vPlanes.

◆ operator delete() [1/3]

void mrpt::pbmap::PbMap::operator delete ( void * ptr )

inlinenoexcept

Definition at line 51 of file pbmap/PbMap.h.

◆ operator delete() [2/3]

void mrpt::pbmap::PbMap::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 51 of file pbmap/PbMap.h.

◆ operator delete() [3/3]

void mrpt::pbmap::PbMap::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 51 of file pbmap/PbMap.h.

◆ operator delete[]()

void mrpt::pbmap::PbMap::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 51 of file pbmap/PbMap.h.

◆ operator new() [1/3]

static void* mrpt::pbmap::PbMap::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 51 of file pbmap/PbMap.h.

◆ operator new() [2/3]

void* mrpt::pbmap::PbMap::operator new ( size_t size )

inline

Definition at line 51 of file pbmap/PbMap.h.

◆ operator new() [3/3]

void* mrpt::pbmap::PbMap::operator new	(	size_t	size,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 51 of file pbmap/PbMap.h.

◆ operator new[]()

void* mrpt::pbmap::PbMap::operator new[] ( size_t size )

inline

Definition at line 51 of file pbmap/PbMap.h.

◆ printPbMap()

void PbMap::printPbMap ( std::string txtFilePbm )

Print PbMap content to a text file

Definition at line 183 of file PbMap.cpp.

References for().

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◆ readFromStream()

void PbMap::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

overrideprotectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any error, see CStream::ReadBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 67 of file PbMap.cpp.

References mrpt::pbmap::Plane::id, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ savePbMap()

void PbMap::savePbMap ( std::string filePath )

Save PbMap in the given filePath

Definition at line 104 of file PbMap.cpp.

References CFileGZOutputStream.

Referenced by mrpt::pbmap::PbMapMaker::serializePbMap().

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◆ writeToMatlab()

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 89 of file CSerializable.h.

◆ writeToStream()

void PbMap::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

overrideprotectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If nullptr, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception On any error, see CStream::WriteBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 43 of file PbMap.cpp.

Member Data Documentation

◆ _init_PbMap

mrpt::utils::CLASSINIT mrpt::pbmap::PbMap::_init_PbMap

staticprotected

Definition at line 51 of file pbmap/PbMap.h.

◆ background

unsigned mrpt::pbmap::PbMap::background

Definition at line 73 of file pbmap/PbMap.h.

◆ className

constexpr const char* mrpt::pbmap::PbMap::className = "PbMap"

static

Definition at line 51 of file pbmap/PbMap.h.

◆ edgeCloudPtr

pcl::PointCloud<pcl::PointXYZRGBA>::Ptr mrpt::pbmap::PbMap::edgeCloudPtr

Definition at line 71 of file pbmap/PbMap.h.

◆ FloorPlane

int mrpt::pbmap::PbMap::FloorPlane

Floor plane id

Definition at line 65 of file pbmap/PbMap.h.

Referenced by mrpt::pbmap::PbMapMaker::detectPlanesCloud().

◆ foreground

unsigned mrpt::pbmap::PbMap::foreground

Definition at line 73 of file pbmap/PbMap.h.

◆ globalMapPtr

pcl::PointCloud<PointT>::Ptr mrpt::pbmap::PbMap::globalMapPtr

Registered point cloud from the RGB-D or Depth frames and visual odometry.

Definition at line 69 of file pbmap/PbMap.h.

Referenced by mrpt::pbmap::PbMapMaker::detectPlanesCloud(), MergeWith(), and mrpt::pbmap::PbMapMaker::viz_cb().

◆ groundplane

unsigned mrpt::pbmap::PbMap::groundplane

Definition at line 73 of file pbmap/PbMap.h.

◆ label

std::string mrpt::pbmap::PbMap::label

Label to store a semantic attribute

Definition at line 62 of file pbmap/PbMap.h.

◆ outEdgeCloudPtr

pcl::PointCloud<pcl::PointXYZRGBA>::Ptr mrpt::pbmap::PbMap::outEdgeCloudPtr

Definition at line 72 of file pbmap/PbMap.h.

◆ runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::pbmap::PbMap::runtimeClassId

staticprotected

Definition at line 51 of file pbmap/PbMap.h.

◆ vPlanes

std::vector<Plane> mrpt::pbmap::PbMap::vPlanes

Vector to store the 3D-planes which are the basic characteristic of our map.

Definition at line 59 of file pbmap/PbMap.h.

Referenced by mrpt::pbmap::SemanticClustering::arrangeNewGroups(), mrpt::pbmap::SemanticClustering::buildCoVisibilityMatrix(), mrpt::pbmap::SemanticClustering::buildProximityMatrix(), mrpt::pbmap::ConsistencyTest::calcAlignmentError(), mrpt::pbmap::PbMapMaker::checkProximity(), mrpt::pbmap::PbMapLocaliser::compareSubgraphNeighbors(), mrpt::pbmap::PbMapMaker::detectPlanesCloud(), mrpt::pbmap::ConsistencyTest::estimatePose(), mrpt::pbmap::ConsistencyTest::estimatePoseRANSAC(), mrpt::pbmap::ConsistencyTest::estimatePoseWithCovariance(), mrpt::pbmap::SemanticClustering::evalPartition(), mrpt::pbmap::PbMapLocaliser::getAreaMatch(), mrpt::pbmap::ConsistencyTest::getRTwithModel(), mrpt::pbmap::ConsistencyTest::initPose(), mrpt::pbmap::ConsistencyTest::initPose2D(), mrpt::pbmap::PbMapLocaliser::LoadPreviousPbMaps(), MergeWith(), mrpt::pbmap::PbMapLocaliser::run(), mrpt::pbmap::PbMapMaker::run(), mrpt::pbmap::PbMapLocaliser::searchPlaneContext(), mrpt::pbmap::Subgraph::Subgraph(), mrpt::pbmap::PbMapMaker::viz_cb(), and mrpt::pbmap::PbMapMaker::watchProperties().

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ PbMap()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ Create()

◆ CreateObject()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ loadPbMap()

◆ MergeWith()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ printPbMap()

◆ readFromStream()

◆ savePbMap()

◆ writeToMatlab()

◆ writeToStream()

Member Data Documentation

◆ _init_PbMap

◆ background

◆ className

◆ edgeCloudPtr

◆ FloorPlane

◆ foreground

◆ globalMapPtr

◆ groundplane

◆ label

◆ outEdgeCloudPtr

◆ runtimeClassId

◆ vPlanes